https://github.com/sollimann/real-time-elevator-scheduler
EE5903 Real-Time Systems
https://github.com/sollimann/real-time-elevator-scheduler
Last synced: 7 months ago
JSON representation
EE5903 Real-Time Systems
- Host: GitHub
- URL: https://github.com/sollimann/real-time-elevator-scheduler
- Owner: Sollimann
- Created: 2018-04-05T13:28:45.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2018-04-19T09:21:56.000Z (over 7 years ago)
- Last Synced: 2025-03-20T00:01:46.457Z (7 months ago)
- Language: C++
- Size: 463 KB
- Stars: 1
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
## EE5903 Real-Time Systems - simulation
## Prerequisites
Linux distributions such as Wily (Ubuntu 15.10), Xenial (Ubuntu 16.04) and Jessie (Debian 8)
C++ 11 compiler or newer
## 1. Install ROS kinetic for Ubuntu (If you do not have it already) ##
###### This should take no more than 3 minutes. If you have another version of linux but Ubuntu, follow this guide: http://wiki.ros.org/kinetic/Installation. It is very important that you follow the installation guide and instructions on how to run the guide EXACTLY as stated or you will get running errors. Simply copy and paste the commands to your terminal command window ######
Robot operating system (ROS) provides services designed for heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. The main ROS client libraries (C++, Python, and Lisp) are geared toward a Unix-like system, primarily because of their dependence on large collections of open-source software dependencies.
-------------------------
1. Setup your computer to accept software from packages.ros.org:
```bash
$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
```
2. Set up your keys:
```bash
$ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
```
3. Update:
```bash
$ sudo apt-get update
4. Installation:
```bash
$ sudo apt-get install ros-kinetic-desktop-full
```
5. Before you can use ROS, you will need to initialize rosdep:
```bash
$ sudo rosdep init
$ rosdep update
6. Environment setup:
```bash
$ echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
$ source ~/.bashrc
## 2. Now that you have ROS Kinetic installed. Create ROS workspace ##
###### This is necessary to be able to run the simulation package that I have created
-------------------------
1. creating a catkin workspace:
```bash
$ mkdir -p ~/rts_simulation_ws/src
$ cd ~/rts_simulation_ws/src
$ catkin_init_workspace
2. building the workspace created:
```bash
$ cd ~/rts_simulation_ws/
$ catkin_make
3. source the current workspace:
```bash
$ echo "source rts_simulation_ws/devel/setup.bash" >> ~/.bashrc
3. close the current window.
4. Open a new window. To make sure the workspace is properly overlayed:
```bash
$ echo $ROS_PACKAGE_PATH
/home/youruser/rts_simulation_ws/src:/opt/ros/kinetic/share
## 3. How to run the code ##
-------------------------
1. Enter the folder where you want to clone the repostory:
```bash
$ cd rts_simulation_ws/src
```
2. Clone the repository:
```bash
$ git clone https://github.com/Sollimann/simulation.git
```
Ps. You can also manually download the zip-folder in the up-right corner and extract the file
inside the src-folder of you workspace
3. Compile the code by running "catkin_make" inside the workspace:
```bash
$ cd ~/rts_simulation_ws/
$ catkin_make
4. Open a second window and run ROS (DO NOT close this window until after simulation is complete):
```bash
$ roscore
```
5. Open a third window and and run the first algorithm. (this will not publish anything at first):
```bash
$ rosrun simulation master_elevator_nc
```
6. Open a fourth window and and run the second algorithm. (this will not publish anything at first):
```bash
$ rosrun simulation master_elevator_fso
```
## 4. Simulation starts by ##
-------------------------
1. Open a fifth and final window, and run the following line to start the simulation:
```bash
$ rosrun simulation poisson_call_generator
```
2. properly adjust the third and fourth window, and enjoy the elevator animation
## Data ##
-------------------------
1. ###### Input:
poisson_call_generator.cpp: All times are generated from a stationary Poisson point process.
Floors are generated randomly. A call is an object consistig off call(time of arrival, current floor, desired floor).
2. ###### Output:
master_elevator_nc.cpp: Average Travel Time, Average Response Time, Average Waiting Time
master_elevator_fso.cpp: Average Travel Time, Average Response Time, Average Waiting Time
## Adjustable parameters ##
-------------------------
master_elevator_fso.cpp: numberOfPassengersTravelling
master_elevator_nc.cpp: numberOfPassengersTravelling
poisson_call_generator.cpp: totNumberOfPassengers, averageArrivalTime